cmake_minimum_required(VERSION 3.8)
project(ros_arm)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

# 寻找 controlcan 动态库
find_library(CONTROLCAN controlcan PATHS ${CMAKE_CURRENT_SOURCE_DIR}/lib)


add_executable(ros2_control_arm src/ros2_control_arm.cpp)
add_executable(arm_talker       src/arm_talker.cpp)



target_include_directories(ros2_control_arm PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ros_arm> # 包含controlcan.h
  $<INSTALL_INTERFACE:include>)
target_compile_features(ros2_control_arm PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

ament_target_dependencies(
  ros2_control_arm
  "rclcpp"
  "std_msgs"
  "geometry_msgs"
)
ament_target_dependencies(
  arm_talker
  "rclcpp"
  "std_msgs"
  "geometry_msgs"
)

# 链接动态库
target_link_libraries(ros2_control_arm ${CONTROLCAN} controlcan)
target_link_libraries(arm_talker       ${CONTROLCAN} controlcan)




install(TARGETS 
  ros2_control_arm
  arm_talker
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
